mrpt::maps::TMetricMapInitializer Struct Reference

Detailed Description

Virtual base for specifying the kind and parameters of one map (normally, to be inserted into mrpt::maps::CMultiMetricMap) See mrpt::maps::TSetOfMetricMapInitializers::loadFromConfigFile() as an easy way of initialize this object, or construct with the factory methods <metric_map_class>::MapDefinition() and TMetricMapInitializer::factory()

See also

TSetOfMetricMapInitializers, mrpt::maps::CMultiMetricMap

Definition at line 32 of file TMetricMapInitializer.h.

#include <mrpt/maps/TMetricMapInitializer.h>

Inheritance diagram for mrpt::maps::TMetricMapInitializer:

Public Member Functions
void	loadFromConfigFile (const mrpt::utils::CConfigFileBase &source, const std::string &sectionNamePrefix) MRPT_OVERRIDE
	Load all params from a config file/source. More...
void	dumpToTextStream (mrpt::utils::CStream &out) const MRPT_OVERRIDE
	Dump the options of the metric map in human-readable format. More...
const mrpt::utils::TRuntimeClassIdPtr &	getMetricMapClassType () const
	Query the map type (C++ class), as set by the factory method MapDefinition() More...
void	loadFromConfigFileName (const std::string &config_file, const std::string &section)
	Behaves like loadFromConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to load the file. More...
virtual void	saveToConfigFile (mrpt::utils::CConfigFileBase &target, const std::string &section) const
	This method saves the options to a ".ini"-like file or memory-stored string list. More...
void	saveToConfigFileName (const std::string &config_file, const std::string &section) const
	Behaves like saveToConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to save the file. More...
void	dumpToConsole () const
	Just like dumpToTextStream() but sending the text to the console (std::cout) More...

Static Public Member Functions
static TMetricMapInitializer *	factory (const std::string &mapClassName)
	Looks up in the registry of known map types and call the corresponding <metric_map_class>::MapDefinition(). More...

Public Attributes
mrpt::maps::TMapGenericParams	genericMapParams
	Common params for all maps: These are automatically set in TMetricMapTypesRegistry::factoryMapObjectFromDefinition() More...

Protected Member Functions
	TMetricMapInitializer (const mrpt::utils::TRuntimeClassId *classID)
virtual void	loadFromConfigFile_map_specific (const mrpt::utils::CConfigFileBase &source, const std::string &sectionNamePrefix)=0
	Load all map-specific params. More...
virtual void	dumpToTextStream_map_specific (mrpt::utils::CStream &out) const =0

Static Protected Member Functions
static void	dumpVar_int (CStream &out, const char *varName, int v)
	Used to print variable info from dumpToTextStream with the macro LOADABLEOPTS_DUMP_VAR. More...
static void	dumpVar_float (CStream &out, const char *varName, float v)
static void	dumpVar_double (CStream &out, const char *varName, double v)
static void	dumpVar_bool (CStream &out, const char *varName, bool v)
static void	dumpVar_string (CStream &out, const char *varName, const std::string &v)

Protected Attributes
const mrpt::utils::TRuntimeClassIdPtr	metricMapClassType
	Derived classes set this to CLASS_ID(< class >) where < class > is any CMetricMap derived class. More...

Friends
class	TSetOfMetricMapInitializers

Constructor & Destructor Documentation

TMetricMapInitializer()

TMetricMapInitializer::TMetricMapInitializer ( const mrpt::utils::TRuntimeClassId *  classID )

protected

Definition at line 29 of file TMetricMapInitializer.cpp.

Member Function Documentation

dumpToConsole()

void CLoadableOptions::dumpToConsole ( ) const

inherited

Just like dumpToTextStream() but sending the text to the console (std::cout)

Definition at line 47 of file CLoadableOptions.cpp.

References mrpt::utils::CLoadableOptions::dumpToTextStream(), and loadable_opts_my_cout.

Referenced by mrpt::hmtslam::CTopLCDetector_GridMatching::computeTopologicalObservationModel(), mrpt::hmtslam::CHMTSLAM::loadOptions(), and mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::printParams().

dumpToTextStream()

void TMetricMapInitializer::dumpToTextStream ( mrpt::utils::CStream &  out ) const

virtual

Dump the options of the metric map in human-readable format.

Reimplemented from mrpt::utils::CLoadableOptions.

Definition at line 46 of file TMetricMapInitializer.cpp.

References mrpt::maps::TMapGenericParams::dumpToTextStream(), dumpToTextStream_map_specific(), genericMapParams, metricMapClassType, and mrpt::utils::CStream::printf().

dumpToTextStream_map_specific()

virtual void mrpt::maps::TMetricMapInitializer::dumpToTextStream_map_specific ( mrpt::utils::CStream &  out ) const

protectedpure virtual

Implemented in mrpt::maps::COccupancyGridMap2D::TMapDefinition, mrpt::maps::CLandmarksMap::TMapDefinition, mrpt::maps::CColouredPointsMap::TMapDefinition, mrpt::maps::CBeaconMap::TMapDefinition, mrpt::maps::CGasConcentrationGridMap2D::TMapDefinition, mrpt::maps::CHeightGridMap2D::TMapDefinition, mrpt::maps::CWeightedPointsMap::TMapDefinition, mrpt::maps::CSimplePointsMap::TMapDefinition, mrpt::maps::CReflectivityGridMap2D::TMapDefinition, mrpt::maps::CHeightGridMap2D_MRF::TMapDefinition, mrpt::maps::CWirelessPowerGridMap2D::TMapDefinition, mrpt::maps::CColouredOctoMap::TMapDefinition, and mrpt::maps::COctoMap::TMapDefinition.

Referenced by dumpToTextStream().

dumpVar_bool()

void CLoadableOptions::dumpVar_bool ( CStream &  out, const char *  varName, bool  v  )

staticprotectedinherited

Definition at line 67 of file CLoadableOptions.cpp.

References LOADABLEOPTS_COLUMN_WIDTH, and mrpt::utils::CStream::printf().

dumpVar_double()

void CLoadableOptions::dumpVar_double ( CStream &  out, const char *  varName, double  v  )

staticprotectedinherited

Definition at line 62 of file CLoadableOptions.cpp.

References LOADABLEOPTS_COLUMN_WIDTH, and mrpt::utils::CStream::printf().

dumpVar_float()

void CLoadableOptions::dumpVar_float ( CStream &  out, const char *  varName, float  v  )

staticprotectedinherited

Definition at line 57 of file CLoadableOptions.cpp.

References LOADABLEOPTS_COLUMN_WIDTH, and mrpt::utils::CStream::printf().

dumpVar_int()

void CLoadableOptions::dumpVar_int ( CStream &  out, const char *  varName, int  v  )

staticprotectedinherited

Used to print variable info from dumpToTextStream with the macro LOADABLEOPTS_DUMP_VAR.

Definition at line 52 of file CLoadableOptions.cpp.

References LOADABLEOPTS_COLUMN_WIDTH, and mrpt::utils::CStream::printf().

dumpVar_string()

void CLoadableOptions::dumpVar_string ( CStream &  out, const char *  varName, const std::string &  v  )

staticprotectedinherited

Definition at line 72 of file CLoadableOptions.cpp.

References LOADABLEOPTS_COLUMN_WIDTH, and mrpt::utils::CStream::printf().

factory()

TMetricMapInitializer * TMetricMapInitializer::factory ( const std::string &  mapClassName )

static

Looks up in the registry of known map types and call the corresponding <metric_map_class>::MapDefinition().

Definition at line 22 of file TMetricMapInitializer.cpp.

getMetricMapClassType()

const mrpt::utils::TRuntimeClassIdPtr& mrpt::maps::TMetricMapInitializer::getMetricMapClassType ( ) const

inline

Query the map type (C++ class), as set by the factory method MapDefinition()

Definition at line 49 of file TMetricMapInitializer.h.

Referenced by mrpt::maps::internal::TMetricMapTypesRegistry::factoryMapObjectFromDefinition().

loadFromConfigFile()

void TMetricMapInitializer::loadFromConfigFile ( const mrpt::utils::CConfigFileBase &  source, const std::string &  sectionNamePrefix  )

virtual

Load all params from a config file/source.

For examples and format, read the docs of mrpt::maps::CMultiMetricMap Typical section names:

• <sectionNamePrefix>_creationOpts
• <sectionNamePrefix>_insertOpts
• <sectionNamePrefix>_likelihoodOpts

For examples and format, read the docs of mrpt::maps::CMultiMetricMap

Implements mrpt::utils::CLoadableOptions.

Definition at line 35 of file TMetricMapInitializer.cpp.

References genericMapParams, mrpt::maps::TMapGenericParams::loadFromConfigFile(), and loadFromConfigFile_map_specific().

Referenced by mrpt::maps::TSetOfMetricMapInitializers::loadFromConfigFile(), mrpt::maps::CSimplePointsMap::TMapDefinition::loadFromConfigFile_map_specific(), mrpt::maps::CWeightedPointsMap::TMapDefinition::loadFromConfigFile_map_specific(), and mrpt::maps::CColouredPointsMap::TMapDefinition::loadFromConfigFile_map_specific().

loadFromConfigFile_map_specific()

virtual void mrpt::maps::TMetricMapInitializer::loadFromConfigFile_map_specific ( const mrpt::utils::CConfigFileBase &  source, const std::string &  sectionNamePrefix  )

protectedpure virtual

Load all map-specific params.

Implemented in mrpt::maps::COccupancyGridMap2D::TMapDefinition, mrpt::maps::CLandmarksMap::TMapDefinition, mrpt::maps::CColouredPointsMap::TMapDefinition, mrpt::maps::CBeaconMap::TMapDefinition, mrpt::maps::CGasConcentrationGridMap2D::TMapDefinition, mrpt::maps::CHeightGridMap2D::TMapDefinition, mrpt::maps::CWeightedPointsMap::TMapDefinition, mrpt::maps::CSimplePointsMap::TMapDefinition, mrpt::maps::CReflectivityGridMap2D::TMapDefinition, mrpt::maps::CHeightGridMap2D_MRF::TMapDefinition, mrpt::maps::CWirelessPowerGridMap2D::TMapDefinition, mrpt::maps::CColouredOctoMap::TMapDefinition, and mrpt::maps::COctoMap::TMapDefinition.

Referenced by loadFromConfigFile().

loadFromConfigFileName()

void CLoadableOptions::loadFromConfigFileName ( const std::string &  config_file, const std::string &  section  )

inherited

Behaves like loadFromConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to load the file.

See also

loadFromConfigFile

Definition at line 23 of file CLoadableOptions.cpp.

References mrpt::utils::CLoadableOptions::loadFromConfigFile().

Referenced by mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::loadParams().

saveToConfigFile()

void CLoadableOptions::saveToConfigFile ( mrpt::utils::CConfigFileBase &  target, const std::string &  section  ) const

virtualinherited

This method saves the options to a ".ini"-like file or memory-stored string list.

See also

loadFromConfigFile, saveToConfigFileName

Reimplemented in mrpt::vision::TMultiResDescOptions, mrpt::vision::TMultiResDescMatchOptions, mrpt::nav::CPTG_RobotShape_Circular, mrpt::nav::CPTG_RobotShape_Polygonal, mrpt::nav::CParameterizedTrajectoryGenerator, mrpt::nav::CAbstractNavigator::TAbstractNavigatorParams, mrpt::nav::CAbstractPTGBasedReactive::TAbstractPTGNavigatorParams, mrpt::nav::CPTG_DiffDrive_CollisionGridBased, mrpt::nav::CHolonomicND::TOptions, mrpt::nav::CWaypointsNavigator::TWaypointsNavigatorParams, mrpt::nav::CHolonomicFullEval::TOptions, mrpt::nav::CReactiveNavigationSystem::TReactiveNavigatorParams, mrpt::nav::CHolonomicVFF::TOptions, mrpt::nav::CMultiObjectiveMotionOptimizerBase::TParamsBase, mrpt::maps::CPointCloudFilterByDistance::TOptions, mrpt::nav::CPTG_DiffDrive_C, mrpt::nav::CPTG_DiffDrive_alpha, mrpt::nav::CMultiObjMotionOpt_Scalarization::TParams, mrpt::nav::CPTG_DiffDrive_CC, mrpt::nav::CPTG_DiffDrive_CCS, mrpt::nav::CPTG_DiffDrive_CS, and mrpt::nav::CPTG_Holo_Blend.

Definition at line 31 of file CLoadableOptions.cpp.

References MRPT_UNUSED_PARAM.

Referenced by mrpt::utils::CLoadableOptions::dumpToTextStream(), and mrpt::utils::CLoadableOptions::saveToConfigFileName().

saveToConfigFileName()

void CLoadableOptions::saveToConfigFileName ( const std::string &  config_file, const std::string &  section  ) const

inherited

Behaves like saveToConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to save the file.

See also

saveToConfigFile, loadFromConfigFileName

Definition at line 39 of file CLoadableOptions.cpp.

References mrpt::utils::CLoadableOptions::saveToConfigFile().

Friends And Related Function Documentation

TSetOfMetricMapInitializers

friend class TSetOfMetricMapInitializers

friend

Definition at line 34 of file TMetricMapInitializer.h.

Member Data Documentation

genericMapParams

mrpt::maps::TMapGenericParams mrpt::maps::TMetricMapInitializer::genericMapParams

Common params for all maps: These are automatically set in TMetricMapTypesRegistry::factoryMapObjectFromDefinition()

Definition at line 37 of file TMetricMapInitializer.h.

Referenced by dumpToTextStream(), mrpt::maps::internal::TMetricMapTypesRegistry::factoryMapObjectFromDefinition(), and loadFromConfigFile().

metricMapClassType

const mrpt::utils::TRuntimeClassIdPtr mrpt::maps::TMetricMapInitializer::metricMapClassType

protected

Derived classes set this to CLASS_ID(< class >) where < class > is any CMetricMap derived class.

Definition at line 56 of file TMetricMapInitializer.h.

Referenced by dumpToTextStream().